• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.3
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• pp.16-22
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• 2019

Off-line programming and robot calibration through simulation are essential when setting up a robot in a robot automation production line. In this study, we developed a new robot calibration method to match the CAD data of the production line with the measurement data on the site using 3D scanner. The proposed method calibrates the robot using 3D point cloud data through Iterative Closest Point algorithm. Registration is performed in three steps. First, vertices connected by three planes are extracted from CAD data as feature points for registration. Three planes are reconstructed from the scan point data located around the extracted feature points to generate corresponding feature points. Finally, the transformation matrix is calculated by minimizing the distance between the feature points extracted through the ICP algorithm. As a result of applying the software to the automobile welding robot installation, the proposed method can calibrate the required accuracy to within 1.5mm and effectively shorten the set-up time, which took 5 hours per robot unit, to within 40 minutes. By using the developed system, it is possible to shorten the OLP working time of the car body assembly line, shorten the precision teaching time of the robot, improve the quality of the produced product and minimize the defect rate.

• Tunnel and Underground Space
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• v.31 no.1
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• pp.10-24
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• 2021

Rock mass classification for construction of underground facilities is essential to secure their stabilities. Therefore, the reliable values for rock mass classification from the precise information on rock discontinuities are most important factors, because rock mass discontinuities can affect exclusively on the physical and mechanical properties of rock mass. The conventional classification operation for rock mass has been usually performed by hand mapping. However, there have been many issues for its precision and reliability; for instance, in large-scale survey area for regional geological survey, or rock mass classification operation by non-professional engineers. For these reasons, automated rock mass classification using LiDAR becomes popular for obtaining the quick and precise information. But there are several suggested algorithms for analyzing the rock mass discontinuities from point cloud data by LiDAR scanning, and it is known that the different algorithm gives usually different solution. Also, it is not simple to obtain the exact same value to hand mapping. In this paper, several discontinuity extract algorithms have been explained, and their processes for extracting rock mass discontinuities have been simulated for real rock bench. The application process for several algorithms is anticipated to be a good reference for future researches on extracting rock mass discontinuities from digital point cloud data by laser scanner, such as LiDAR.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.39 no.1
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• pp.47-54
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• 2021

Calculation of quantity at construction sites is a factor that has a great influence on construction costs, and it is important to calculate accurate values. In this study, topographic model was created by using drone photogrammetry and drone LiDAR to estimate earthwork volume. ortho image and DSM (Digital Surface Model) were constructed for the study area by drone photogrammetry, and DEM (Digital Elevation Model) of the target area was established using drone LiDAR. And through accuracy evaluation, accuracy of each method are 0.034m, 0.35m in horizontal direction, 0.054m, 0.25m in vertical direction. Through the research, the usability of drone photogrammetry and drone LiDAR for constructing geospatial information was presented. As a result of calculating the volume of the study site, the UAV photogrammetry showed a difference of 1528.1㎥ from the GNSS (Global Navigation Satellite System) survey performance, and the 3D Laser Scanner showed difference of 160.28㎥. The difference in the volume of earthwork is due to the difference in the topographic model, and the efficiency of volume calculation by drone LiDAR could be suggested. In the future, if additional research is conducted using GNSS surveying and drone LiDAR to establish topographic model in the forest area and evaluate its usability, the efficiency of terrain model construction using drone LiDAR can be suggested.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.2
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• pp.139-146
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• 2023

Maritime object detection systems, which detects small maritime obstacles such as fish farm buoys and visualizes distance and direction, is equipped with a 3-axis gimbal to compensate for errors caused by hull motion, but there is a limit to distance error corrections necessitated by the vertical movement of the camera and the maritime object due to wave motions. Therefore, in this study, the distance error of maritime object detection systems caused by the movement of the water surface according to the external environment is analyzed and corrected using average filter and moving average filter. Random numbers following a Gaussian standard normal distribution were added to or subtracted from the image coordinates to reproduce the rise or fall of the buoy under irregular waves. The distance calculated according to the change of image coordinates, the predicted distance through the average filter and the moving average filter, and the actual distance measured by laser distance meter were compared. In phases 1 and 2, the error rate increased to a maximum of 98.5% due to the changes of image coordinates due to irregular waves, but the error rate decreased to 16.3% with the moving average filter. This error correction capability was better than with the average filter, but there was a limit due to failure to respond to the distance change. Therefore, it is considered that use of the moving average filter to correct the distance error of the maritime object detection system will enhance responses to the real-time distance change and greatly improve the error rate.

• Journal of Internet Computing and Services
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• v.24 no.6
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• pp.119-125
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• 2023

Through the Ukraine-Russia war, the military importance of drones is being reassessed, and North Korea has completed actual verification through a drone provocation towards South Korea at 2022. Furthermore, North Korea is actively integrating artificial intelligence (AI) technology into drones, highlighting the increasing threat posed by drones. In response, the Republic of Korea military has established Drone Operations Command(DOC) and implemented various drone defense systems. However, there is a concern that the efforts to enhance capabilities are disproportionately focused on striking systems, making it challenging to effectively counter swarm drone attacks. Particularly, Air Force bases located adjacent to urban areas face significant limitations in the use of traditional air defense weapons due to concerns about civilian casualties. Therefore, this study proposes a new passive air defense method that aims at disrupting the object detection capabilities of AI models to enhance the survivability of friendly aircraft against the threat posed by AI based swarm drones. Using laser-based adversarial examples, the study seeks to degrade the recognition accuracy of object recognition AI installed on enemy drones. Experimental results using synthetic images and precision-reduced models confirmed that the proposed method decreased the recognition accuracy of object recognition AI, which was initially approximately 95%, to around 0-15% after the application of the proposed method, thereby validating the effectiveness of the proposed method.

• Korean Chemical Engineering Research
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• v.62 no.1
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• pp.105-111
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• 2024

The SLA (Stereolithography Apparatus) method is a type of 3D printing technique predicated on the transformation of liquid photocurable resin into a solid form through UV laser exposure, and its application is increasing in various fields. In this study, we conducted research to enhance the hydrophobicity and transparency of SLA 3D printing surfaces for microfluidic system production. The enhancement of surface hydrophobicity in SLA outputs was attainable through the application of hydrophobic coating methods, but the coating durability under different conditions varied depending on the type of hydrophobic coating. Additionally, to simultaneously achieve the required transparency and hydrophobic properties for the fabrication of microfluidic systems, we applied hydrophobic coatings to the proposed transparency enhancement method from prior research and compared the changes in contact angles. Teflon coating was proposed as a suitable hydrophobic coating method for the fabrication of microfluidic systems, given its excellent transparency and high coating durability in various environmental conditions, in comparison to titanium dioxide coating. Finally, we produced an Electrophoresis of Charged Droplet (ECD) chip, one of the digital microfluidics systems, using SLA 3D printing with the proposed Teflon coating method (Fluoropel 800). Droplet manipulation was successfully demonstrated with the fabricated chip, confirming the potential application of SLA 3D printing technology in the production of microfluidic systems.

• The Journal of Korean Society for Radiation Therapy
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• v.27 no.2
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• pp.115-122
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• 2015

Purpose : The aim of this study, evaluate the accuracy of HeaxPOD evo RT system using the non-coplanar beam. Materials and Methods : 13 treatment plans are used which applied non-coplanar beams and 10 treatment plans which coplanar beams are used. the correction value what adjust to 6D couch is determined by each patient's setup errors only rotation direction. The study executed followings. first, Applying the correction value, measure the point dose and calculate the ${\gamma}$-index(${\gamma}=3%$ / 3 mm, ${\gamma}=2%$ / 2 mm). second, acquire data as previous methods without correction by HexaPOD. Results : For comparing the two results, we find out the more precise applying HexaPOD by point dose 0.2% in coplanar and non-coplanar. in the case of ${\gamma}$-index<1(${\gamma}=3%$ / 3 mm), more precise 2.2% in coplanar and 7% in Non-coplanar. Particularly, ${\gamma}$-index<1(2% / 2 mm) show the difference 9.2% in coplanar and 15.1% non-coplanar between apply HexaPOD and dose not apply HexaPOD. Conclusion : Using the HexaPOD is more precise than without HexaPOD. It suggests that HexaPOD evo RT system is very useful for precise and high dose delivery.

• Proceedings of the Korean Powder Metallurgy Institute Conference
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• 2000.04a
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• pp.9-10
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• 2000

An important business-field of world-wide steel-industry is the coating of thin metal-sheets with zinc, zinc-aluminum and aluminum based materials. These products mostly go into automotive industry. in particular for the car-body. into building and construction industry as well as household appliances. Due to mass-production, the processing is done in large continuously operating plants where the mostly cold-rolled metal-strip as the substrate is handled in coils up to 40 tons unwind before and rolled up again after passing the processing plant which includes cleaning, annealing, hot-dip galvanizing / aluminizing and chemical treatment. In the liquid Zn, Zn-AI, AI-Zn and AI-Si bathes a combined action of corrosion and wear under high temperature and high stress onto the transfer components (rolls) accounts for major economic losses. Most critical here are the bearing systems of these rolls operating in the liquid system. Rolls in liquid system can not be avoided as they are needed to transfer the steel-strip into and out of the crucible. Since several years, ceramic roller bearings are tested here [1.2], however, in particular due to uncontrollable Slag-impurities within the hot bath [3], slide bearings are still expected to be of a higher potential [4]. The today's state of the art is the application of slide bearings based on Stellite\ulcorneragainst Stellite which is in general a 50-60 wt% Co-matrix with incorporated Cr- and W-carbides and other composites. Indeed Stellite is used as the bearing-material as of it's chemical properties (does not go into solution), the physical properties in particular with poor lubricating properties are not satisfying at all. To increase the Sliding behavior in the bearing system, about 0.15-0.2 wt% of lead has been added into the hot-bath in the past. Due to environmental regulations. this had to be reduced dramatically_ This together with the heavily increasing production rates expressed by increased velocity of the substrate-steel-band up to 200 m/min and increased tractate power up to 10 tons in modern plants. leads to life times of the bearings of a few up to several days only. To improve this situation. the Mechanical Alloying (MA) TeChnique [5.6.7.8] is used to prOduce advanced Stellite-based bearing materials. A lubricating phase is introduced into Stellite-powder-material by MA, the composite-powder-particles are coated by High Energy Milling (HEM) in order to produce bearing-bushes of approximately 12 kg by Sintering, Liquid Phase Sintering (LPS) and Hot Isostatic Pressing (HIP). The chemical and physical behavior of samples as well as the bearing systems in the hot galvanizing / aluminizing plant are discussed. DependenCies like lubricant material and composite, LPS-binder and composite, particle shape and PM-route with respect to achievable density. (temperature--) shock-reSistibility and corrosive-wear behavior will be described. The materials are characterized by particle size analysis (laser diffraction), scanning electron microscopy and X-ray diffraction. corrosive-wear behavior is determined using a special cylinder-in-bush apparatus (CIBA) as well as field-test in real production condition. Part I of this work describes the initial testing phase where different sample materials are produced, characterized, consolidated and tested in the CIBA under a common AI-Zn-system. The results are discussed and the material-system for the large components to be produced for the field test in real production condition is decided. Outlook: Part II of this work will describe the field test in a hot-dip-galvanizing/aluminizing plant of the mechanically alloyed bearing bushes under aluminum-rich liquid metal. Alter testing, the bushes will be characterized and obtained results with respect to wear. expected lifetime, surface roughness and infiltration will be discussed. Part III of this project will describe a second initial testing phase where the won results of part 1+11 will be transferred to the AI-Si system. Part IV of this project will describe the field test in a hot-dip-aluminizing plant of the mechanically alloyed bearing bushes under aluminum liquid metal. After testing. the bushes will be characterized and obtained results with respect to wear. expected lifetime, surface roughness and infiltration will be discussed.

• Journal of the Korean earth science society
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• v.34 no.7
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• pp.693-710
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• 2013

This study investigates the distribution of suspended particulates during the Asian dust period in Busan, Korea in the spring of 2009. Weather map and automatic weather system (AWS) data were used to analyze the synoptic weather conditions during the period. Particulate matter 10, laser particle counter data, satellite images and a backward trajectories model were used to analyze the aerosol particles distribution and their origins. In Case 1 (20 February 2009), when the $PM_{10}$ concentration increased, the aerosol volume distribution of small ($0.3-1.0{\mu}m$) particles decreased, while the concentration of large ($1.0-10.0{\mu}m$) particles increased. When the $PM_{10}$ concentration decreased, the aerosol volume distribution was observed to decrease as well. The prevailing winds changed from weak northerly winds to strong southwesterly winds when the concentration of the large particles increased. The correlation coefficient between the $PM_{10}$ concentration and aerosol volume distribution of large particles showed a high positive value of over 0.9. The results from the trajectory model show that the Asian dust originated in the Gobi desert and the Nei Mongol plateau. In Case 2 (25 April 2009), when the $PM_{10}$ concentration increased, the aerosol volume concentration of small ($0.3-0.5{\mu}m$) particles decreased, but the concentration of large ($0.5-10.0{\mu}m$) particles increased. The opposite was observed when the $PM_{10}$ concentration decreased. The prevailing winds changed from northeasterly winds to southwesterly and northeasterly winds. The correlation coefficient between the $PM_{10}$ concentration and aerosol volume distribution of large particles ($1.0-10.0{\mu}m$) showed a high positive value of about 0.9. The results from the trajectory model show that the Asian dust originated in Manchuria and the eastern coast of China.

• The Journal of Korean Academy of Prosthodontics
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• v.49 no.1
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• pp.1-7
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• 2011

Purpose: The purpose of this study was to investigate the cutting efficiency of coarse grit diamond burs with air-turbine handpiece on natural tooth. Materials and methods: Four groups of coarse grit diamond bur were selected: Komet (A), Shofu (B), Premier (C), and Mani (D). The extracted maxillary central incisors were used, and ten cuts were made on each specimen, using the rotary diamond burs. The surface of each bur was measured at the upper, middle, and bottom of the bur with confocal laser scanning microscope and imaged with SEM. The data were analyzed with one-way ANOVA and t-test at the significance level of 0.05. Results: The surface roughness was measured. At the A diamond bur, the Sa values were $52.93\;{\mu}m$, $48.32\;{\mu}m$, $46.79\;{\mu}m$, $45.06\;{\mu}m$, and $43.43\;{\mu}m$ for control, test 1, 2, 3, and 4 respectively. The Sa values were $50.68\;{\mu}m$, $45.62\;{\mu}m$, $44.41\;{\mu}m$, $44.10\;{\mu}m$, and $42.46\;{\mu}m$ for B diamond bur, $58.02\;{\mu}m$, $55.53\;{\mu}m$, $52.22\;{\mu}m$, $48.26\;{\mu}m$, and $45.36\;{\mu}m$ for C diamond bur, and $50.11\;{\mu}m$, $46.73\;{\mu}m$, $45.46\;{\mu}m$, $42.58\;{\mu}m$, and $41.80\;{\mu}m$ for D diamond bur. Surface roughness after each bur use showed significant changes, but no significant difference was found in surface roughness change between bur systems. Conclusions: Surface roughness in the same bur system showed significant differences after each tooth preparation. However no statistically significant differences were found in surface roughness between bur systems. The SEM images between control and test 4 showed the abraded particles.